JP2002032127A - Circuit, system and method for controlling motor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide control technology capable of reducing load of an arithmetic unit in the control of position control motors and quickly controlling many position control motors without increasing the number of arithmetic units and required performance. SOLUTION: A motor control device (1) for sending a signal pattern to a motor driving circuit (2) and controlling the angle of a motor (3) is provided with a memory (13) for storing a signal pattern for specifying the displacement of the turned angle, a data sending parts (12, 15, 7a, 7b, 9a, 9b) for sending a prescribed signal pattern stored in the memory (3) to the motor driving circuit (2) and synchronizing timing signal generation parts (4, 4a, 4b) for regulating timing for sending the signal pattern from the data sending part.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

TECHNICAL FIELD The present invention relates to a motor control device,
In particular, the present invention relates to a position command generator for a digital position control motor, for example, a servo motor or a stepping motor.

[0002]

2. Description of the Related Art A digital position control motor such as a servo motor or a stepping motor receives a position command for designating a rotation angle of a motor shaft, and rotates the motor shaft according to the position command.

Conventionally, a position command generator that generates this position command calculates the next command value while sending the command value to a position control motor. The position command generator controls the position control motor by sequentially repeating such calculation of the command value and transmission of the command value.

[0004] The calculation of this command value places a heavy burden on the arithmetic unit (microprocessor) of the position command device. In particular, when controlling a plurality of position control motors, the amount of calculation further increases. Therefore, a high-performance and expensive computing device has been required. As a result, in a machine using a large number of position control motors, the cost is increased by the position command generator.

[0005] On the other hand, the number of motor axes that can be controlled by one position command generator is limited depending on such computing power. Therefore, as the number of axes to be controlled increases, more control devices are required. As a result, machines using a large number of position control motors have become expensive.

[0006]

SUMMARY OF THE INVENTION The present invention has been made in view of such problems of the prior art. An object of the present invention is to provide a control technology capable of controlling a large number of position control motors at a high speed without reducing the load on the processing device in controlling the position control motors and increasing the number of processing devices and required performance. is there.

[0007]

In order to solve the above-mentioned problems, the present invention employs the following means.

That is, the present invention relates to a motor control device (1) for transmitting a signal pattern to a motor drive circuit (2) and controlling a rotation angle of a motor (3), wherein a signal for designating a displacement of the rotation angle is provided. A memory (13) for storing a pattern, and a data transmission unit (12, 15,...) For transmitting a predetermined signal pattern in the memory (13) to the motor drive circuit (2).
7a, 7b, 9a, 9b) and a synchronization timing signal generator (4, 4a, 4b) for regulating the timing at which the data transmitter transmits a signal pattern.

Preferably, the memory 13 stores a repetition portion of a signal pattern for causing the motor to perform the same operation repeatedly, and stores the data transmission portion (12, 15, 7a, 7b,
9a, 9b) may repeat this signal pattern at a predetermined cycle and send it to the motor drive circuit (2).

[0010] Preferably, this signal pattern may be held in a ring buffer (6).

Preferably, the synchronization timing signal generating section causes the data transmitting section to read a signal pattern in the direction of increasing the read address of the memory (13) and transmit the read signal pattern; A negative direction timing generator for reading a signal pattern in the decreasing direction of the read address and transmitting the signal pattern may be used.

According to the present invention, a plurality of motor drive circuits (2) are provided.
And a motor control system for controlling a rotation angle of each motor (3) with respect to a motor system having a motor (3) driven by the motor drive circuit (2),
A plurality of motor control devices (1) for transmitting a signal pattern to each motor drive circuit (2), and a synchronization timing signal generating device (4) for regulating the timing at which the motor control device (1) transmits the signal pattern. The motor control device (1) includes a memory (13) for storing a signal pattern designating a displacement of a rotation angle of the motor (3), and a predetermined signal pattern in the memory (13) for driving the motor. A data transmitting unit (12, 15, 7a, 7) for transmitting to the circuit (2);
b, 9a, 9b), wherein the synchronous timing signal generator (4) is provided for a plurality of motor controllers (1).
The same synchronous timing signal is given, and a plurality of motors (3)
The timing for controlling the rotation angle of the motor is regulated.

Further, the present invention is a signal pattern generating device which is sent to a motor drive circuit (2) and controls a rotation angle of a motor (3), and includes a motor including a designation of a rotation angle of the motor (3). An input unit (22, S) for inputting the operation specifications of (3)
1) and a signal pattern generator (22, 22) for generating a signal pattern from the operation specification to the motor drive circuit (2).
S2) and a storage unit (23) for storing this signal pattern
It consists of:

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below with reference to the drawings. << First Embodiment >> A control system according to a first embodiment of the present invention will be described with reference to FIGS. Figure 1
Is a position command generator 1 (corresponding to a motor controller),
FIG. 2 is a system configuration diagram of a control system including a servomotor 3 to be controlled. FIG. 2 is a principle diagram of the position command generator 1, and FIG. 3 is a diagram illustrating the position command generator 1 shown in FIG.
Buffer 6 and synchronous timing clock 4
FIGS. 4A and 4B are diagrams for explaining the operations of FIGS. 4A and 4B. FIG. 4 is a hardware configuration diagram of the position command generating device 1 and a position command data generating device 21 that generates position command data to be written into the position command generating device 1. FIG. 5 is a flowchart showing the processing of the position command data creation program executed by the CPU 22 of the position command data creation device 21, and FIG.
FIG. 7 is a flowchart showing processing of an electronic cam program which is executed by the CPU 12 of the position command generating device 1 and generates a position command from the position command data.
FIG. 9 is a flowchart illustrating a modification of the electronic cam program, and FIG. 9 is a diagram illustrating a modification of the position command data;
FIG. 10 is a block diagram showing a modification of the position command generator 1. <System Configuration> FIG. 1 shows a system configuration diagram of a control system including a servomotor 3 to be controlled. The control system includes a servo motor 3 to be controlled, a position detector 4 (rotary encoder) for detecting a rotation angle of the servo motor 3, a motor drive circuit 2 for driving the servo motor 3, and a motor drive circuit 2 And a position command generator 1 for inputting a position command 100 to the servo motor 3 and controlling the servo motor 3.

The position command generator 1 generates a position command 100 according to the position command data stored therein and inputs the position command 100 to the motor drive circuit 2.

The motor drive circuit 2 generates a drive current 101 in accordance with the position command 100 and supplies power to the servo motor 3.

The servo motor 3 is supplied with a drive current 101 from the motor drive circuit 2, and rotates the motor shaft according to the drive current 101.

The position detector 4 converts the rotation angle of the servo motor 3 into a voltage and outputs it as a position detection signal 102. <Principle of Position Command Generating Apparatus 1> FIG. The position command generator 1 stores position command data for commanding the operation of the servomotor 3 in a memory 13 having therein the position command data in advance. This position command data is created in advance according to the operation specifications of the servo motor 3. Then, the position command generator 1 inputs the position command data to the servomotor 3 in synchronization with the clock 4a or the clock 4b.

In the position command data, one command is composed of 8 bits. The first two bits specify the rotation direction of the servo motor 3. That is, the bit of bit number 0 (referred to as the 0th bit; the same applies to other bits) is an inverted bit. When this bit is 1, the servo motor 3 reverses the rotation direction. On the other hand, the first bit is a normal bit. When this bit is 1, the servo motor 3 rotates (forward rotation) in the same direction without reverse rotation. When the 0th and 1st bits are both 0, the servo motor 3
Does not rotate.

The second to seventh bits store the operation pattern of the servomotor 3 (1 in each bit is one step rotation, 0 is stop).

The clock 4a is a forward synchronization timing clock, and increments the read address in the memory 13 in the forward direction. That is, the position command generating device 1 synchronizes with the clock 4a and outputs, for example, addresses 0, 1,. . . The position command data in the memory 13 is read out in the order of 9 and input to the servo motor 3.

The clock 4a is a backward synchronization timing clock, and decrements the read address in the memory 13 in the backward direction. That is, the position command generating device 1 synchronizes with the clock 4b and outputs, for example, addresses 9, 8,. . . The position command data is read from the memory 13 in the order of 0 and input to the servo motor 3.

Hereinafter, the operation of the position command generator 1 will be described according to the position command data shown in FIG. 1) When the positive-direction synchronization timing clock 4a is input, the data at address 0 is transferred to the servomotor 3. In this data, since the reverse rotation bit is 1, the servo motor 3 reverses the rotation direction and rotates the motor shaft by the rotation angle specified by the second bit or less. 2) When the next positive synchronization timing clock 4a is input, the data at address 1 is transferred to the servo motor 3. In this data, since the reverse rotation bit is 1, the servo motor 3 reverses the rotation direction and rotates the motor shaft by the rotation angle specified by the second bit or less. 3) When the next forward synchronization timing clock 4a is input, the data at address 2 is transferred to the servo motor 3. In this data, the reverse bit and the normal bit are both 0.
Therefore, the servo motor 3 does not rotate the motor shaft. 4) When the next forward synchronization timing clock 4a is input, the data at address 3 is transferred to the servo motor 3. In this data, the reverse bit and the normal bit are both 0.
Therefore, the servo motor 3 does not rotate the motor shaft. 5) When the next forward synchronization timing clock 4a is input, the data at address 4 is transferred to the servo motor 3. In this data, since the normal rotation bit is 1, the servo motor 3 rotates the motor shaft by the rotation angle specified by the second bit or less without reversing the rotation direction. 6) Similarly, the position command generator 1 sets the address 9
Is transferred to the servo motor 3.

The portion of the memory 13 holding the position command data forms the ring buffer 6. FIG. 3 illustrates the operation of the ring buffer 6.

The ring buffer 6 has a function of circulating a read address or a write address in a ring. As shown in FIG. 3, for example, in the reading of the position command data, when the reading from the head (address 0) to the tail (address 9) is completed, the ring is again returned by the input of the next forward synchronization timing clock 4a. The read address is returned to the head of the buffer 6. In this way, the position command generator 1 repeats the transfer of the data of the addresses 0 to 9 to the servomotor 3 in synchronization with the forward synchronization timing clock 4a.

On the other hand, the reverse synchronization timing clock 4b
In response to the input, the position command generator 1 decrements the address and repeats the same operation as described above. <Hardware Configuration> FIG. 4 shows a position command generator 1 and
FIG. 2 is a hardware configuration diagram of a position command data creating device 21 that generates position command data to be written into the position command control device 1.

The position command data generating device 21 executes a program to generate position command data.
And a program executed by the CPU 22 and the CPU 22
A hard disk 24 for storing programs and data, a communication interface 25 for writing data to the position command generator 1, a CRT 26 for displaying the processing results of the CPU 22 to the user, A keyboard 27 for the user to input data and a pointing device 28 for the user to operate menus and icons on the CRT 26 are provided.

The CPU 22 executes a program stored in the memory 23 and provides a function as the position command data creating device 21.

The memory 23 stores programs executed by the CPU 22 and data processed by the CPU 22.
This data includes the operation specification data of the servo motor 3 and
It includes position command data created correspondingly.

The hard disk 24 records programs executed by the CPU 22 and data processed by the CPU 22.

The communication interface 25 includes the CPU 12
By accessing the position command generator 1, the generated position command data is written into the memory 13.

The CRT 26 displays data input by the user and the result of processing the data.

The keyboard 27 is used by a user to input character information.

The pointing device 28 is a CRT 2
6 is used to operate a menu, button, icon, or the like displayed on the screen. Pointing device 2
8, for example, a mouse, a trackball, an electrostatic pointing device, a laser pointing device, a joystick,
Alternatively, a touch panel or the like can be used.

The position command generating device 1 includes a CPU 12, a memory 13, and a communication interface 15, like the position command data creating device 21. The operation of these components is the same as that of the position command data creating device 21, and a description thereof will be omitted.

The communication interface 15 is connected to the servomotor 3 in addition to the position command generator 1. When writing data to the memory 13, the communication interface 15 receives data from the position command data creating device 21.

On the other hand, when transferring data to the servo motor 3, the communication interface 15 writes data in the memory 13 to the servo motor 3. <Operation and Effect> FIG. 5 shows processing of a program executed by the CPU 22 of the position command data creating device 21 (calculation / writing of position command). The CPU 22 executes this processing and creates position command data.

In this process, the CPU 22 first reads from the hard disk 24 the operation specifications of the servomotor 3 described in text format and the transfer designation (S1). This text format describes the operation function of the servomotor 3 in a command format, and specifies a rotation direction, a speed, and a rotation angle. The transfer designation is a designation as to whether the created position command is to be written to the position command generator 1 or not. The operation specification or the transfer designation may be input from the keyboard 27.

Next, the CPU 22 calculates an operation pattern from the above operation specifications (S2). That is, the CPU 22
Generates an operation pattern (as illustrated in FIG. 2) corresponding to a predetermined clock from the text format. This operation pattern is also called position command data.

The operation specifications include, for example, the rotation angle of the motor shaft,
This is text data consisting of a series of command strings that specify an angular velocity and an angular acceleration at a desired time. An operation pattern is obtained by developing this operation specification into a bit string indicating a rotation direction and a unit rotation amount of the servo motor 3.

Next, the CPU 22 writes the generated operation pattern into the memory 23 (S3).

Next, the CPU 22 determines whether or not there is a remaining operation specification (S4). If there are remaining operation specifications, the CPU 22 returns the control to the processing of S1.

If there are no remaining operation specifications, then the CPU
22 determines whether or not the transfer is designated (S5). When the transfer is designated, the CPU 22 writes the operation pattern stored in the memory 23 into the position command generator 1 (S6).

If no transfer is designated, the CPU 22
Saves the operation pattern stored in the memory 23 to its own hard disk 24 (S7). Then, C
The PU 22 ends the operation / write processing of the position command.

FIG. 6 shows the CPU 12 of the position command generator 1.
5 is a flowchart showing a process of an electronic cam program executed by the electronic cam program. The CPU 12 executes this program and provides the function of the position command generator 1.

When this program is executed, the CPU 12
First, it is determined whether to end the electronic cam program (S20). The electronic cam program ends when the transfer of 8-bit position command data being processed is completed after the end switch (not shown) is pressed.

If the end switch is not pressed (S2
0), the CPU 12 determines the input of an external command (synchronous timing clock). If there is no external command, CPU1
2 returns control to S20.

If the external command is the forward synchronization timing clock 4a, the CPU 12 advances the control to S22. On the other hand, when the external command is the reverse synchronization timing clock 4
If the answer is b, the CPU 12 advances the control to S25.

In the case of forward reading, the CPU 12
Determines whether the address is the final value of the ring buffer 6 (S22).

If it is determined in S22 that the address is not the final value of the ring buffer 6, the CPU 12 increments the address (S23). Next, the CPU 12 transfers the 1-byte (8-bit) position command data to the servo motor 3 via the communication interface 15 connected to the output port (S28). Thereafter, the CPU 12
The control is returned to the process of 20.

If it is determined in S22 that the address is the last value of the ring buffer 6, the CPU 12 presets the address to a start value (the head of the ring buffer 6) (S24). Next, the CPU 12 transfers the 1-byte (8-bit) position command data to the servo motor 3 via the communication interface 15 connected to the output port (S28). Thereafter, the CPU 12 returns the control to the processing of S20.

In the case of the backward reading, the CPU 12
Is the start value of the address (the top of the ring buffer 6)
It is determined whether or not (S25).

If it is determined in step S25 that the address is not the start value, the CPU 12 decrements the address (S26). Next, the CPU 12 transfers the 1-byte (8-bit) position command data to the servo motor 3 via the communication interface 15 connected to the output port (S28). Thereafter, the CPU 12 returns the control to the processing of S20.

If it is determined in step S25 that the address is the start value, the CPU 12 stores the address in the ring buffer 6.
(S27). Next, CPU1
Reference numeral 2 denotes a position command data of 1 byte (8 bits) through a communication interface 15 connected to an output port.
The data is transferred to the servo motor 3 (S28). Then the CPU
12 returns control to the process of S20.

As described above, the position command generator 1 calculates all the position command data for the servomotor 3 in advance and stores it in the memory 13. At the time of the control, the data in the memory 13 only needs to be sequentially transferred to the servomotor 3. Therefore, a microprocessor having a high calculation performance is not required as the CPU 12. That is, the CPU 12 only needs to have the ability to read data from the memory 13 following the clock of the forward synchronization timing clock 4a or the backward synchronization timing clock 4b. Therefore, an inexpensive microprocessor can be used as the CPU 12.

According to the position command generator 1,
A command can be given to the servomotor 3 in the unit of the minimum resolution of the servomotor 3 indicated by the position command data (rotation of one step corresponding to one bit of the position command data).

The position command generator 1 stores the position command data in the ring buffer 6, reads it out repeatedly, and transfers it to the servomotor 3. Therefore, the operation of the servo motor 3 is repeated (referred to as cycle operation).
By storing the position command data corresponding to the repetitive operation (one cycle), the storage capacity required for controlling the servomotor 3 can be reduced. <Modification of Electronic Cam Program> In the above embodiment, as shown in the flowchart of FIG. 6, the presence or absence of an external command (synchronous timing clock 4a, 4b) is determined by the CPU.
12 shows the procedure of the determination. However, the embodiment of the present invention is not limited to the processing of the electronic cam program.

FIGS. 8 and 9 show examples of the electronic cam program started in the interrupt processing process accompanying an external command.

FIG. 8 shows a forward synchronization clock 4
14 shows the processing of a program (hereinafter, referred to as a forward interrupt) started in the interrupt processing process for a.

When this processing is started, the CPU 12
First, it is determined whether or not the address is the final value of the ring buffer 6 (S32), and a corresponding data transfer process (S33 to S35) is executed. Processing after this determination (from S33 to S
35) is the same as S23, S24, and S28 in FIG. 6, and a description thereof will be omitted. After that, the CPU 12
Ends the forward interrupt processing.

FIG. 9 shows the reverse synchronization timing clock 4
4 shows the processing of a program (hereinafter, referred to as a backward interrupt) started in the interrupt processing process for b.

When this process is started, the CPU 12
First, it is determined whether or not the address is the start value of the ring buffer 6 (S45), and the corresponding data transfer processing (S46)
To S48). The processing after this determination (S46 to S48) is the same as S26 to S28 in FIG. 6, and a description thereof will be omitted. After that, the CPU 12 ends the backward interruption processing. <Modification of Position Command Data Format> In the above embodiment, as shown in FIG. 2, the rotation direction of the servo motor 3 is provided at the first two bits, and the servo motor 3 is provided at the third and subsequent bits.
The format of the position command data having the bit designating the rotation of one step is shown. However, embodiments of the present invention are not limited to such a data format.

FIG. 9 shows the format of position command data that can control four servomotors 3 simultaneously. This data format has an 8-bit configuration, as in the above embodiment. However, this data is divided into two bits, and each data constitutes a command for four different servomotors 3.

That is, the 0th and 1st bits are for the first servomotor 3. The 0th bit indicates a right unit rotation (movement of one step), and the first bit indicates a left unit rotation. The same applies to the second and subsequent bits.

This data is also transferred to the servomotor 3 in synchronization with the synchronous timing clock, as in the above embodiment. <Modification of Hardware Configuration> In the above embodiment, the CPU 12, the memory 13, the communication interface 1
5 constituted the position command generator 1. However, the embodiment of the present invention is not limited to such a hardware configuration.

FIG. 10 shows an example in which the position command generator is constituted only by pure hardware without using the CPU 12.

The position command generator includes a memory 13 for storing position command data, a counter 5 for generating a read address of the memory 13, and two registers 7 for loading data of the read address designated by the counter 5.
a, 7b and gates 9a, 9b for switching the input / output destinations of these registers 7a, 7b. The configuration of the motor drive circuit 2 and the like to be controlled is the same as in the above embodiment.

The position command data is written in the memory 13 as in the above embodiment.

The counter 5 counts the range of addresses constituting the ring buffer 6 by the memory 13 in synchronization with the clock 4a or 4b.

Here, the forward synchronization timing clock 4
For a, the counter 5 counts in the direction of increasing the address. Then, when the counter reaches the maximum value corresponding to the final value of the ring buffer 6, the value is initialized to the counter minimum value corresponding to the start value of the ring buffer 6.

On the other hand, the reverse synchronization timing clock 4b
, The counter 5 counts in the direction of decreasing the address. When the counter reaches the minimum value corresponding to the start value of the ring buffer 6, the value is initialized to the counter maximum value corresponding to the final value of the ring buffer 6.
Thus, the counter 5 turns on the read word line 103 of the memory 13.

As a result, the word (1 byte) whose word line 103 has been turned on is loaded into the register 7a or 7b.

Register 7a, register 7b, gate 9
a and 9b constitute a two-sided buffer. Gate 9a
Causes the register 7a (or 7b) to load one byte of the position command read from the ring buffer 6. On the other hand, the gate 9b outputs the position command 1 byte of the register 7b (or 7a) which is not being loaded to the servo motor driving circuit 2.
To transfer. Switching between the register 7a and the register 7b is performed in synchronization with the positive direction synchronous timing clock 4a or the negative direction synchronous timing clock 4b.

Thus, while the data is loaded into the register 7a, the data in the register 7b is transferred to the motor drive circuit 2. Next, while the data is loaded into the register 7b, the data in the register 7a is
Is forwarded to

As described above, by configuring the position command generator only with hardware, it is possible to eliminate unnecessary time such as interrupt processing of the CPU 12 and control at a speed determined by the access time of the memory 13.

Further, the repetitive operation (cycle operation) described in the above-described embodiment may be realized by such a hardware position command generator, and the CPU 12 may activate a plurality of position command generators. Thereby, flexible control of the servo motor 3 corresponding to various applications is realized while various cycle operations are supported at high speed by hardware. <Other Modifications> In the above-described first embodiment, an example has been described in which the position to be controlled is controlled by the position command generator 1 using the servomotor 3 as the control target. However, the control object of the present invention is not limited to the servomotor 3. That is, the present invention can be applied to a general digital position control motor such as a stepping motor.

In the above embodiment, one servo motor 3 is controlled by the position command generator 1. However, in the present invention, the number of servomotors 3 controlled by the position command generator 1 is not limited to one. That is, the CPU 12 may transfer the position command data to a plurality of servomotors 3 and the like up to a limit where the data can be transferred following the forward synchronization clock 4a or the backward synchronization clock 4b. . << Second Embodiment >> FIG. 11 shows a motor control system according to a second embodiment of the present invention. In the first embodiment, an example in which the servo motor 3 is controlled by one position command generator 1 has been described.

In this embodiment, a plurality of position command generators 1a, 1b,. . . , 1n, a plurality of servomotors 3a,. . . , 3n is controlled.

In this embodiment, the position command generator 1
a, 1b,. . . , 1n (hereinafter simply referred to as position command generator 1)
a), the motor drive circuits 2a,. . . , 2n (hereinafter simply referred to as motor drive circuit 2a, etc.) and servo motors 3a,. . . , 3n (hereinafter simply referred to as “servo motor 3a”) is configured by the position command generator 1 of the first embodiment,
Since the configuration is the same as that of the motor drive circuit 2 and the servo motor 3, the description is omitted. 1 to 10 are referred to as needed.

As shown in FIG. 11, the motor control system includes a timing clock 4, a CPU 32, a plurality of position command generators 1a, a motor drive circuit 2a, and the like.
And a servo motor 3a.

The CPU 32 has a synchronous timing clock 4
The start instruction command 104 is sent to each of the position command generators 1a and the like in synchronization with. This start instruction command holds a start instruction bit for each position command generator 1a and the like. Therefore,
The CPU 32 starts and ends the transfer of the position command data synchronized with the synchronization timing clock 4 to each of the position command generators 1a and the like according to the start instruction command 104. That is, a plurality of motor shafts can be synchronously rotated.

[0082]

As described above, according to the present invention,
The load on the arithmetic unit in the motor control device can be reduced, and the number of motor shafts that can be controlled by the motor control device can be increased without increasing the number of arithmetic units and required performance.

[Brief description of the drawings]

FIG. 1 is a system configuration diagram of a control system according to an embodiment of the present invention.

FIG. 2 is a principle diagram of the position command generator 1.

FIG. 3 shows a ring buffer 6 and a synchronous timing clock 4
FIGS. 4A and 4B illustrate the operation of FIGS.

FIG. 4 is a hardware configuration diagram of a position command generator 1 and a position command data generator 21.

FIG. 5 is a flowchart showing processing of a position command data creation program.

FIG. 6 is a flowchart showing processing of an electronic cam program.

FIG. 7 is a flowchart (1) showing a modification of the electronic cam program.

FIG. 8 is a flowchart (2) showing a modification of the electronic cam program.

FIG. 9 is a diagram showing a modification of the position command data.

FIG. 10 is a block diagram showing a modification of the position command generator 1;

FIG. 11 is a system configuration diagram of a motor control system according to a second embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Position command generator 2 Motor drive circuit 3 Servo motor 4, 4a, 4b Synchronous timing clock 6 Ring buffer 7a, 7b Register 8 Position detector 32, 12, 22 CPU 13, 23 Memory

Claims (10)

[Claims] A signal pattern is transmitted to a motor drive circuit,
A motor control device that controls a rotation angle of a motor, a memory that stores a signal pattern that specifies a displacement of the rotation angle, and a data transmission unit that transmits a predetermined signal pattern in the memory to the motor drive circuit. A motor control device comprising: a synchronization timing signal generation unit that regulates a timing at which the data transmission unit transmits a signal pattern. 2. The memory stores a repeated portion of a signal pattern that causes the motor to perform the same operation repeatedly, and the data transmission unit repeatedly transmits the signal pattern to the motor control circuit at a predetermined cycle. The motor control device according to claim 1. 3. The motor control device according to claim 2, wherein the signal pattern is held in a ring buffer. 4. A forward direction timing generating section for causing the data transmitting section to read out and transmit a signal pattern in an increasing direction of the read address of the memory, and a synchronous direction signal generating section; 2. The motor control device according to claim 1, further comprising: a negative direction timing generator for reading out and transmitting the signal pattern in the decreasing direction. 5. A motor control system for controlling a rotation angle of each motor with respect to a motor system having a plurality of motor drive circuits and a plurality of motors driven by the motor drive circuit. A plurality of motor control devices for transmitting a signal pattern to a circuit; and a synchronization timing signal generation device for regulating a timing at which the motor control device transmits the signal pattern, wherein the motor control device determines a rotation angle of the motor. A memory for storing a signal pattern designating the displacement; and a data transmission unit for transmitting a predetermined signal pattern in the memory to the motor drive circuit. The synchronization timing signal generation device includes a plurality of motor control devices. On the other hand, a motor control system that gives the same synchronization timing signal and regulates the timing for controlling the rotation angles of a plurality of motors. 6. Sending a signal pattern to a motor drive circuit,
A motor control method for controlling a rotation angle of a motor, comprising: a step of storing a signal pattern designating a displacement of the rotation angle; and a step of transmitting a predetermined signal pattern in the memory to the motor drive circuit. Regulating the timing of transmitting the signal pattern. 7. The motor control method according to claim 6, wherein the signal pattern is a repeated portion of a signal pattern that causes the motor to repeatedly perform the same operation, and the signal pattern is repeatedly transmitted to the motor control circuit. 8. A method for controlling a motor system having a plurality of motor drive circuits and a plurality of motors driven by the motor drive circuit, the method comprising: storing a signal pattern designating a displacement of a rotation angle of the motor. Transmitting a predetermined signal pattern in the memory to the motor drive circuit; and regulating the timing of transmitting the signal pattern. The same synchronous timing signal is transmitted to a plurality of motor control devices. To control the timing at which the rotation angles of a plurality of motors are controlled. 9. An apparatus for generating a signal pattern transmitted to a motor drive circuit for controlling a rotation angle of a motor, comprising: an input unit for inputting an operation specification of the motor including designation of the rotation angle; A signal pattern generation device, comprising: a signal pattern generation unit that generates a signal pattern to the motor drive circuit; and a storage unit that stores the signal pattern. 10. A method for generating a signal pattern transmitted to a motor drive circuit for controlling a rotation angle of a motor, the method comprising: inputting an operation specification of a motor including designation of the rotation angle; A method for generating a signal pattern, comprising: generating a signal pattern for a motor drive circuit; and storing the signal pattern.